version: 66.06
glider: 139
mission: 9
dive: 146
start: 4 21 111 14 57 26
data:
$ID,139
$MISSION,9
$DIVE,146
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,187
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51959
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,330
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2177704
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3137
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,91
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.30000001
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2635
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043016663
$SEABIRD_T_H,0.00062182697
$SEABIRD_T_I,2.2485125e-05
$SEABIRD_T_J,2.3191574e-06
$SEABIRD_C_G,-10.411542
$SEABIRD_C_H,1.1792051
$SEABIRD_C_I,-0.0019162094
$SEABIRD_C_J,0.00023985174
$GPS1,145046,2106.230,-15750.081,13,2.8,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-75.8
$GPS2,145634,2106.188,-15750.160,12,3.2,31,9.8
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.150,0.163
$KALMAN_X,-42134.0,-70.7,188.1,42836.8,-4234.1
$KALMAN_Y,-18578.2,-88.7,98.5,10104.5,-1686.7
$MHEAD_RNG_PITCHd_Wd,32.9,12532,-16.8,-8.021
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.19,-116.8,0.0,0.0,0,93,0.00,0.00,-71.18,0.000,6,0.000,0.000,431,2134,3110,0,0,0,0,0,0
$GC,96,-1.19,-116.8,3.4,-4.5,14,115,13.10,2.20,0.00,0.000,4,0.135,0.026,2869,3456,3112,0,0,0,0,0,0
$GC,177,-1.19,-116.8,23.7,-18.0,31,184,0.00,2.33,0.00,0.000,6,0.000,0.030,2869,2093,3114,0,0,0,0,0,0
$GC,384,-1.19,-116.8,58.9,-17.2,53,388,0.00,2.28,0.00,0.000,4,0.000,0.028,2869,3451,3115,0,0,0,0,0,0
$GC,436,-1.19,-116.8,66.9,-15.2,58,440,0.00,2.25,0.00,0.000,6,0.000,0.031,2869,2099,3115,0,0,0,0,0,0
$GC,699,-1.19,-116.8,103.6,-13.4,82,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2098,3115,0,0,0,0,0,0
$GC,953,-1.19,-116.8,134.8,-11.9,106,957,0.00,2.25,0.00,0.000,4,0.000,0.029,2869,3455,3116,0,0,0,0,0,0
$GC,1071,-1.19,-116.8,147.9,-10.4,118,1078,0.00,2.30,0.00,0.000,6,0.000,0.028,2869,2093,3116,0,0,0,0,0,0
$GC,1336,-1.19,-116.8,175.8,-10.7,143,1340,0.00,2.25,0.00,0.000,4,0.000,0.029,2869,3454,3116,0,0,0,0,0,0
$GC,1398,-1.19,-116.8,183.0,-11.1,149,1402,0.00,2.28,0.00,0.000,6,0.000,0.029,2869,2093,3116,0,0,0,0,0,0
$GC,1656,-1.19,-116.8,210.8,-10.2,168,1660,0.00,2.35,0.00,0.000,4,0.000,0.041,2869,690,3117,0,0,0,0,0,0
$GC,1678,-1.19,-116.8,213.3,-12.2,169,1682,0.00,2.20,0.00,0.000,6,0.000,0.021,2869,2063,3117,0,0,0,0,0,0
$GC,2011,-1.19,-116.8,243.8,-7.8,185,2015,0.00,2.38,0.00,0.000,4,0.000,0.033,2869,3496,3117,0,0,0,0,0,0
$GC,2094,-1.19,-116.8,250.0,-7.2,188,2101,0.00,2.35,0.00,0.000,6,0.000,0.029,2869,2099,3118,0,0,0,0,0,0
$GC,2410,-1.19,-116.8,274.2,-7.7,204,2414,0.00,2.40,0.00,0.000,4,0.000,0.044,2869,687,3117,0,0,0,0,0,0
$GC,2498,-1.19,-116.8,281.7,-9.2,208,2502,0.00,2.30,0.00,0.000,6,0.000,0.023,2869,2095,3118,0,0,0,0,0,0
$GC,2846,-1.19,-116.8,310.4,-8.1,222,2850,0.00,2.35,0.00,0.000,4,0.000,0.037,2869,3499,3116,0,0,0,0,0,0
$GC,3040,-1.19,-116.8,326.8,-8.4,226,3044,0.00,2.35,0.00,0.000,6,0.000,0.032,2869,2093,3116,0,0,0,0,0,0
$GC,3354,-1.19,-116.8,347.5,-6.3,234,3358,0.00,2.40,0.00,0.000,4,0.000,0.038,2869,3500,3115,0,0,0,0,0,0
$GC,3392,-1.19,-116.8,350.0,-7.0,234,3397,0.00,2.35,0.00,0.000,6,0.000,0.033,2869,2096,3114,0,0,0,0,0,0
$GC,3723,-1.19,-116.8,370.9,-6.6,243,3727,0.00,2.40,0.00,0.000,4,0.000,0.048,2869,692,3112,0,0,0,0,0,0
$GC,3766,-1.19,-116.8,374.5,-8.4,244,3770,0.00,2.30,0.00,0.000,6,0.000,0.027,2869,2097,3112,0,0,0,0,0,0
$GC,4096,-1.19,-116.8,402.7,-9.4,252,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3110,0,0,0,0,0,0
$GC,4419,-1.19,-116.8,430.5,-8.2,260,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2101,3107,0,0,0,0,0,0
$STATE,4700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4700,begin apogee
$GC,4707,-0.31,0.0,451.0,7.0,267,4806,0.95,0.00,95.30,0.823,6,0.084,0.000,3065,1802,2635,0,0,0,0,0,0
$STATE,4807,end apogee,CONTROL_FINISHED_OK
$STATE,4807,begin climb
$GC,4810,1.19,116.8,452.5,0.0,269,4922,1.50,2.62,100.75,0.801,4,0.057,0.061,3394,390,2156,0,0,0,0,0,0
$GC,4941,1.19,116.8,439.7,14.7,272,4946,0.00,2.38,0.00,0.000,6,0.000,0.028,3395,1810,2152,0,0,0,0,0,0
$GC,5264,1.19,116.8,397.8,12.6,280,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1815,2145,0,0,0,0,0,0
$GC,5589,1.19,116.8,359.7,11.8,288,5594,0.00,2.55,0.00,0.000,4,0.000,0.061,3394,391,2142,0,0,0,0,0,0
$GC,5654,1.19,116.8,350.2,14.3,289,5659,0.00,2.33,0.00,0.000,6,0.000,0.028,3395,1794,2139,0,0,0,0,0,0
$GC,5999,1.19,116.8,309.0,11.7,298,6004,0.00,2.50,0.00,0.000,4,0.000,0.058,3394,385,2137,0,0,0,0,0,0
$GC,6009,1.19,116.8,307.7,11.7,298,6014,0.00,2.40,0.00,0.000,6,0.000,0.028,3394,1839,2137,0,0,0,0,0,0
$GC,6327,1.19,116.8,270.3,11.6,312,6331,0.00,2.25,0.00,0.000,4,0.000,0.036,3395,3183,2137,0,0,0,0,0,0
$GC,6405,1.19,116.8,262.5,9.7,315,6410,0.00,2.40,0.00,0.000,6,0.000,0.041,3395,1803,2137,0,0,0,0,0,0
$GC,6721,1.19,116.8,230.1,11.0,330,6725,0.00,2.47,0.00,0.000,4,0.000,0.058,3394,386,2135,0,0,0,0,0,0
$GC,6834,1.19,116.8,217.1,11.7,335,6839,0.00,2.30,0.00,0.000,6,0.000,0.026,3394,1762,2132,0,0,0,0,0,0
$GC,7161,1.19,116.8,184.0,11.2,357,7165,0.00,2.40,0.00,0.000,4,0.000,0.053,3394,385,2132,0,0,0,0,0,0
$GC,7176,1.19,116.8,181.9,11.8,358,7181,0.00,2.38,0.00,0.000,6,0.000,0.025,3395,1849,2132,0,0,0,0,0,0
$GC,7439,1.19,116.8,156.7,8.1,382,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1853,2131,0,0,0,0,0,0
$GC,7693,1.20,117.2,136.4,8.0,406,7697,0.00,2.20,0.00,0.000,4,0.000,0.029,3395,3184,2132,0,0,0,0,0,0
$GC,7735,1.20,117.2,133.1,8.1,410,7739,0.00,2.38,0.00,0.000,6,0.000,0.033,3395,1791,2131,0,0,0,0,0,0
$GC,7998,1.20,121.6,113.2,7.8,434,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1791,2131,0,0,0,0,0,0
$GC,8250,1.20,121.6,92.2,8.6,458,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1791,2132,0,0,0,0,0,0
$GC,8507,1.24,151.7,72.5,6.6,482,8536,0.00,0.00,26.48,0.514,6,0.000,0.000,3395,1791,2016,0,0,0,0,0,0
$GC,8794,1.28,182.4,53.7,6.6,509,8830,0.00,2.50,27.25,0.493,4,0.000,0.046,3395,385,1890,0,0,0,0,0,0
$GC,8851,1.28,182.4,48.9,10.1,515,8856,0.00,2.30,0.00,0.000,6,0.000,0.019,3395,1796,1887,0,0,0,0,0,0
$GC,9121,1.28,182.4,24.8,8.5,545,9128,0.00,2.47,0.00,0.000,4,0.000,0.047,3394,386,1887,0,0,0,0,0,0
$GC,9160,1.28,182.4,21.0,9.8,553,9167,0.00,2.33,0.00,0.000,6,0.000,0.019,3395,1814,1884,0,0,0,0,0,0
$GC,9366,1.28,185.9,4.4,7.9,590,9372,0.00,2.50,0.00,0.000,4,0.000,0.048,3394,390,1884,0,0,0,0,0,0
$STATE,9382,end climb,SURFACE_DEPTH_REACHED
$STATE,9382,begin surface coast
$FINISH,2.0,1.023303
$STATE,9392,end surface coast,CONTROL_FINISHED_OK
$STATE,9392,begin surface
$SM_CCo,9418,75.68,0.459,0,0,1288,330.17
$SM_GC,1.41,0.00,0.00,75.68,0.000,0.000,0.459,429,2097,1288,-12.46,-0.08,330.17
$IRIDIUM_FIX,2057.14,-15748.75,150700,121227
$TT8_MAMPS,0.028379
$HUMID,53.38
$INTERNAL_PRESSURE,9.60628
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.4,11.699
$10V_AH,10.6,11.243
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.200,95.225,249.775,75.675,0.000,30.099,37.112,144.381,4.750,0.000,32.482,1094.981,6225.461,401.241,1689.987,432.696,33.354,1115.155,0.000,1657.452,0.000,29.250,0.000
$DEVICE_MAMPS,134.992,60.593,822.991,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.834,387.299,877.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31720,595
$CAP_FILE_SIZE,95371,0
$CFSIZE,260165632,249434112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210411,173706,2106.417,-15751.272,36,0.9,46,9.8